ES Interconnect signals

    Does anybody know what each signal in the ES Interconnect menu means? The manual has this to say:

    Of course, I can't find anything in the controller maintenance manual about the e-stop signals.

    I'm not trying to accomplish anything other than to satisfy my curiosity.

    PLEASE NOTE, WHEN INTERCONNECTED TO DIGITAL OUTPUTS, THOSE OUTPUTS ARE NOT SAFETY RATED!

    EMGOP = Controller E-Stop

    EMGTP = Teach Pendant E-Stop

    Deadman = That silly yellow switch on the back of the TP that used to be bypassed with a pack of cigarettes

    Fence = That white picket thing around some houses

    ROT = Robot Over Travel (if equipped)

    HBK = Hand Broken (if equipped)

    EMGEX = External Emergency Input

    PPABN = Pneumatic Pressure Alarm (if equipped)

    FALM = Faulted (Not sure about this one, but should be easy to test)

    SVOFF = Servo Off input

    IMSTP = Immediate stop input

    BRKHLD = Break Hold

    USRALM = User Alarm

    Hi,

    First, I apologize for my poor level in English, I hope you all understand me.

    I want to inform my PLC when my robot has triggered a user alarm, in addition to the general "UO Fault alarm" alarm.

    The interconnect entry "Menu> I / O> InterConnect> ES-> DO> USRALM" seems to be what I'm looking for.

    So I mapped the USRALM signal to a DO and set it to enable.

    I even tried a robot cold start.

    However, I failed to get it to work ...

    When my robot triggers a user alarm, my DO's USRALM interconnect signal always stays OFF ...and at that point, when I try to force it to 1, it goes back to 0.

    Do you have any idea as to why this is not working or maybe you have another solution for me?

    PS: Actually I am getting EMGOP and EMGTP interconnect signals and it works fine.

    Thank you in advance for your help

    Have a nice day,

    Edited once, last by AtOmX (April 26, 2021 at 12:51 PM).

    Yes I have lines in my programme where i use UALM[x] which trigger my UALM.

    When I disable the interconnect USRALM signal, the manual set/reset of the DO working.

    I tried to change severity level of my UALMs too but the problem is same

    Another point, when an user alarm is active, the system variable "Systeme variables > $ALARM_IF > $LAST_UALM" stay empty.

    However "$LAST_ALM" display the active user alarm but all others alarms too

    It's like my User alarms was not recognized like UALMs.

    Edited 5 times, last by AtOmX (April 26, 2021 at 2:40 PM).

    From Fanuc:

    The user alarm is populating the message like it should on the robot. The ES >> DO USRALM in the interconnect is not the user alarm messages. This is for a user signal used on the E-stop board. ES stands for E-stop signal. What you can do is have an instruction in the program to turn a do on just before the UALM instruction for example, 1. DO1=ON 2. UALM (1). That way you will have the digital output on the same time the user message is on. Make sure to use a DO that is mapped currently DO9 is not mapped to anything in your configuration that's why it can't be turned on. Another way to turn a DO on is by assigning an alarm to a digital output which that requires a software option. ERROR CODE OUTPUT option

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